Pallet positioning method and pallet positioning system

A pallet positioning method, comprising:

• defining a size parameter of a pallet;
• defining a pallet feature of the pallet according to the size parameter;
• obtaining an on-site image;
• defining a projection datum in the on-site image;
• calculating a projection plane coordinate based on the projection datum;
• transforming the on-site image to a perspective adjusted image according to the projection plane coordinate;
• performing a first positioning procedure to obtain a first pallet image in the perspective adjusted image;
• calculating an inclined angle of the first pallet image;
• rotating the first pallet image according to the inclined angle;
• obtaining a second pallet image;
• obtaining a position information of the pallet based on the second pallet image;
• and
• obtaining a three dimensional information of the pallet according to the inclined angle and the position information.

A pallet positioning system, comprising:

• a photographing module, obtaining an on-site image;
• an on-site constructing module, electrically connected with the photographing module, configured to receive the on-site image, and comprising:
• an input unit, configured to receive a size parameter of a pallet;
• and
• a constructing unit, electrically connected with the input unit, configured to define a pallet feature of the pallet according to the size parameter, define a projection datum in the on-site image, and calculate a projection plane coordinate based on the projection datum;
• and
• a positioning computation module, electrically connected with the on-site constructing module, and comprising:
• a positioning unit, configured to transform the on-site image to a perspective adjusted image according to the projection plane coordinate, obtain a first pallet image in the perspective adjusted image according to the pallet feature, calculate an inclined angle of the first pallet image, rotate the first pallet image according to the inclined angle to obtain a second pallet image, and obtain a position information of the pallet based on the second pallet image;
• and
• a transforming unit, configured to obtain a three dimensional information of the pallet according to the inclined angle and the position information.